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100 lines
3.8 KiB
C++
100 lines
3.8 KiB
C++
/// @file Math utility functions used in inverse dynamics library.
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/// Defined here as they may not be provided by the math library.
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#ifndef IDMATH_HPP_
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#define IDMATH_HPP_
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#include "IDConfig.hpp"
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namespace btInverseDynamics
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{
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/// set all elements to zero
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void setZero(vec3& v);
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/// set all elements to zero
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void setZero(vecx& v);
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/// set all elements to zero
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void setZero(mat33& m);
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/// create a skew symmetric matrix from a vector (useful for cross product abstraction, e.g. v x a = V * a)
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void skew(vec3& v, mat33* result);
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/// return maximum absolute value
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idScalar maxAbs(const vecx& v);
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#ifndef ID_LINEAR_MATH_USE_EIGEN
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/// return maximum absolute value
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idScalar maxAbs(const vec3& v);
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#endif //ID_LINEAR_MATH_USE_EIGEN
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#if (defined BT_ID_HAVE_MAT3X)
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idScalar maxAbsMat3x(const mat3x& m);
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void setZero(mat3x& m);
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// define math functions on mat3x here to avoid allocations in operators.
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void mul(const mat33& a, const mat3x& b, mat3x* result);
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void add(const mat3x& a, const mat3x& b, mat3x* result);
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void sub(const mat3x& a, const mat3x& b, mat3x* result);
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#endif
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/// get offset vector & transform matrix from DH parameters
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/// TODO: add documentation
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void getVecMatFromDH(idScalar theta, idScalar d, idScalar a, idScalar alpha, vec3* r, mat33* T);
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/// Check if a 3x3 matrix is positive definite
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/// @param m a 3x3 matrix
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/// @return true if m>0, false otherwise
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bool isPositiveDefinite(const mat33& m);
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/// Check if a 3x3 matrix is positive semi definite
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/// @param m a 3x3 matrix
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/// @return true if m>=0, false otherwise
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bool isPositiveSemiDefinite(const mat33& m);
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/// Check if a 3x3 matrix is positive semi definite within numeric limits
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/// @param m a 3x3 matrix
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/// @return true if m>=-eps, false otherwise
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bool isPositiveSemiDefiniteFuzzy(const mat33& m);
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/// Determinant of 3x3 matrix
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/// NOTE: implemented here for portability, as determinant operation
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/// will be implemented differently for various matrix/vector libraries
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/// @param m a 3x3 matrix
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/// @return det(m)
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idScalar determinant(const mat33& m);
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/// Test if a 3x3 matrix satisfies some properties of inertia matrices
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/// @param I a 3x3 matrix
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/// @param index body index (for error messages)
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/// @param has_fixed_joint: if true, positive semi-definite matrices are accepted
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/// @return true if I satisfies inertia matrix properties, false otherwise.
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bool isValidInertiaMatrix(const mat33& I, int index, bool has_fixed_joint);
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/// Check if a 3x3 matrix is a valid transform (rotation) matrix
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/// @param m a 3x3 matrix
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/// @return true if m is a rotation matrix, false otherwise
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bool isValidTransformMatrix(const mat33& m);
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/// Transform matrix from parent to child frame,
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/// when the child frame is rotated about @param axis by @angle
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/// (mathematically positive)
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/// @param axis the axis of rotation
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/// @param angle rotation angle
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/// @param T pointer to transform matrix
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void bodyTParentFromAxisAngle(const vec3& axis, const idScalar& angle, mat33* T);
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/// Check if this is a unit vector
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/// @param vector
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/// @return true if |vector|=1 within numeric limits
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bool isUnitVector(const vec3& vector);
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/// @input a vector in R^3
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/// @returns corresponding spin tensor
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mat33 tildeOperator(const vec3& v);
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/// @param alpha angle in radians
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/// @returns transform matrix for ratation with @param alpha about x-axis
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mat33 transformX(const idScalar& alpha);
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/// @param beta angle in radians
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/// @returns transform matrix for ratation with @param beta about y-axis
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mat33 transformY(const idScalar& beta);
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/// @param gamma angle in radians
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/// @returns transform matrix for ratation with @param gamma about z-axis
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mat33 transformZ(const idScalar& gamma);
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///calculate rpy angles (x-y-z Euler angles) from a given rotation matrix
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/// @param rot rotation matrix
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/// @returns x-y-z Euler angles
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vec3 rpyFromMatrix(const mat33& rot);
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} // namespace btInverseDynamics
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#endif // IDMATH_HPP_
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